IEEE ... International Conference on Rehabilitation Robotics : [proceedings]最新文献

{"title":"FES-Induced and Voluntary-Induced Fatigue in a Rehabilitation-Like Task.","authors":"Lucille Cazenave, Nuria Pena-Perez, Aaron Yurkewich, Etienne Burdet","doi":"10.1109/ICORR66766.2025.11063107","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063107","url":null,"abstract":"<p><p>In the context of FES-based rehabilitation and assistance tasks, there is a growing interest in managing the induced fatigue, which is an obvious limiting factor in training duration. However, it is unclear whether and how fatigue may develop in tasks commonly used in stroke rehabilitation. This work explored the effect of FES- or volition- induced movements on EMG-based effort and M-wave metrics that characterise fatigue, during a continuous wrist target-tracking task completed by 22 unimpaired participants. We found no significant changes in the mechanical and electrical responses of the muscles during the Volition-only, FES-only, and VolitionFES conditions, suggesting that during this task, FES did not induce muscular fatigue, while both mental and physical demands were reported as low. Our results thus suggest that it may not be necessary to consider FES-induced fatigue during such continuous FES-assisted tasks, that can be used in poststroke motor rehabilitation training.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1100-1105"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612587","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"General Purpose Haptic/Biometric-Based Dynamic Difficulty Adjustment for Post-Stroke Upper-Limb Rehabilitation Games.","authors":"Yiyang Shang, Sasan Bahrami, Samuel Gaardsmoe, Alwyn Johnson, Michelle J Johnson, Paul Diefenbach","doi":"10.1109/ICORR66766.2025.11062998","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11062998","url":null,"abstract":"<p><p>Rehabilitation therapy can be more effective and engaging when interactive technologies are involved. To enhance this experience, we integrated a haptic/biometric-based (HBB) Dynamic Difficulty Adjustment (DDA) system into the enAblegames ${}^{text {TM}}$ platform, which already uses body tracking for therapeutic gaming. This system adapts game and haptic difficulty in real time based on each patient's biometric data and performance, making therapy more personalized. We tested this system with 11 participants, comparing their experiences with and without DDA. The results were promising-36% preferred DDA-enhanced games, compared to just $mathbf{7 %}$ for non-DDA, and in a single-game scenario, preference for DDA increased by 50 %. These early findings suggest that HBB-DDA can make rehabilitation more engaging and tailored to individual needs. While more research is needed to understand its full impact, this system has the potential to improve patient experience and therapy outcomes.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"248-253"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612593","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Green Means Go(Bot): Using an Assistive Robot to Encourage Independent Walking Practice by a Child with Motor Disabilities.","authors":"Ameer Helmi, Tze-Hsuan Wang, Samuel W Logan, Naomi T Fitter","doi":"10.1109/ICORR66766.2025.11063020","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063020","url":null,"abstract":"<p><p>For children with motor disabilities, a wide range of assistive technologies (such as exoskeletons, treadmill trainers, and body-weight support harnesses) exist to support learning to walk. However, after the onset of independent walking, few technologies are geared toward helping children with motor disabilities to practice walking and improve walking control. In this paper, we assess the ability of GoBot, a custom assistive robot with multiple game modes, to encourage one child with a motor disability to improve their amount, speed, and control of independent walking. We conducted a 12-session single-subject study and found that the child walked more and faster while engaging in lightly competitive races against a directly teleoperated GoBot, compared to during experiences in a standard of care condition. As a second and more exploratory element of our work, we equipped GoBot to autonomously play the common children's game red light, green light (RLGL) with the user as an entertaining way to motivate balance practice. Anecdotally, this RLGL activity led to some of the highest levels of child engagement. The preliminary findings of our single-subject study can benefit researchers working with assistive robots and physical therapists working with children with independent walking practice goals.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"656-662"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612594","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"HADAR Hand: 13-DoF Hybrid Actuation-Based Dextrous Anthropomorphic Robotic Hand.","authors":"Prashanth Jonna, Madhav Rao","doi":"10.1109/ICORR66766.2025.11062954","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11062954","url":null,"abstract":"<p><p>Dextrous robotic hand designs are pivotal in advancing the field of hand prosthetics, enabling users to perform robust grasping tasks essential for daily activities and improved quality of life. However, the widespread adoption of such dextrous hand prosthetics remains hindered by prohibitive costs that arise from the high number of actuators used to replicate natural human hand movements. This research seeks to address this challenge by critically evaluating the necessity of replicating many human hand DoFs and instead proposing a design that achieves 95% of human grasp configurations with a significantly reduced actuator count compared to conventional biomimetic robotic hands. We present the Hybrid-Actuated dextrous Anthropomorphic Robotic (HADAR) Hand, a novel 13-DoF robotic hand optimised for dextrous object grasping with a high degree of visual anthropomorphism. The HADAR Hand employs a hybrid actuation strategy, combining linkagedriven mechanisms for robust proximal joint control and tendon-based actuation for compliant distal joint movement, which is essential for delicate object handling. Utilizing insights from long-term occupational studies and Functional Range of Motion (FROM) data, rigid and elastomeric couplings were developed to bring down the actuator count to less than half the number of major tendons present in the human hand without compromising on the ability to perform human-like grasp configurations. Comprehensive performance evaluations validate the HADAR Hand's capabilities, with results demonstrating success in replicating hand grasps as per Cutkosky's taxonomy (14/15), Feix's GRASP taxonomy (31/33), and the Kapandji thumb opposability test (6/10). To promote accessibility and reproducibility, the HADAR Hand leverages cost-effective, widely available actuators, additive manufacturing techniques, and a compact, two-layer PCB capable of concurrently driving all 13 N20 DC motors that drive the HADAR Hand. This work represents a significant step in developing affordable, highperformance prosthetics and robotic hands.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"712-717"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612597","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Hybrid Brain Computer Interface-Based Rehabilitation Addressing Post-Stroke Maladaptive Movement Patterns.","authors":"J Toppi, G Savina, E Colamarino, V De Seta, F Patarini, F Cincotti, F Pichiorri, D Mattia","doi":"10.1109/ICORR66766.2025.11062988","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11062988","url":null,"abstract":"<p><p>Hybrid Brain-Computer Interfaces (hBCI) integrate brain and muscle signals to enhance motor rehabilitation of stroke survivors, by closing the loop between the lesioned brain and the paretic limb. To date, little attention has been devoted to their potential efficacy in managing the maladaptive movement patterns that afflict post-stroke motor outcome (unwanted abnormal co-contrations, spasticity). This study proposes a comparison of Cortico-Muscular Coherence (CMC) patterns assessed in stroke patients before and after a 1-month rehabilitation intervention based on a hBCI-controlled Functional Electrical Stimulation (FES) treatment, which included a module to monitor non-physiological movement patterns. Results demonstrated the efficacy of this type of assistive technology for post-stroke rehabilitation, addressing patient-tailored interventions able to reduce the maladaptive mechanisms.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"431-436"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612604","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Intertwined Digital Human and Robot Modeling-Driven Development of Reharob 3.0: The Quad-Arm Functional Upper Limb Rehabilitation Robot System.","authors":"A Toth, T Pilissy, J Kocsis, M O Bauer, D Simon, I Tavaszi, K Sandor, G Fazekas","doi":"10.1109/ICORR66766.2025.11063149","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063149","url":null,"abstract":"<p><p>Mass-produced industrial and service robots have been used to build therapeutic rehabilitation robots since the 1990s. REHAROB 1.0, the dual-arm upper limb rehabilitation robot prototype, was among the pioneers. The industrial collaborative robot is a new type of robot in terms of safety, appearance, performance, and cost, thanks to which it is proving itself in more and more applications. To take advantage of these benefits, the REHAROB 3.0 Robotic Trainer for Activities of Daily Living, also updated in its name, was designed and built using two industrial collaborative robots and two uniquely developed robotic fingers. The goal of our study was to introduce an iterative design and simulation process in which digital human modeling is intertwined with digital robot modeling, leading to an upper limb rehabilitation robot system targeting outstanding performance features such as synchronous exercising of every upper limb anatomical joint and training reaching and grasping Activities of Daily Living with real objects in a real environment.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1094-1099"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612620","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Kinematics Estimation Using a Skin-Adhesive Strain Patch for Shoulder Rehabilitation: A Preliminary Study.","authors":"Chan Beom Park, Hyeok-Jun Kwon, Seongok Chae, Su Jae Lee, Seong Hyun Kim, Hyung-Soon Park","doi":"10.1109/ICORR66766.2025.11063093","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063093","url":null,"abstract":"<p><p>Shoulder kinematics has been required to be estimated using compact sensors to provide visual feedback on joint movements for patients undergoing home rehabilitation due to musculoskeletal diseases, such as stroke. Multiple strain patches have been used for shoulder kinematics estimation, either embedded in tight shirts or attached directly to the skin. However, it is desirable to eliminate the tight shirt while minimizing the number of strain patches for convenient use in home rehabilitation. This study presents a single all-in-one skin-adhesive strain patch that enables shoulder kinematics estimation through placement optimization. At the optimal on-skin position, strains caused by flexion-extension and abduction-adduction movements were generated significantly in different directions. The fabricated all-in-one strain patch measured these strains using embedded sensors oriented accordingly. Moreover, the patch was designed to be lightweight and ultra-thin, allowing for convenient attachment to the skin. Shoulder kinematics estimation using this strain patch was preliminarily evaluated with a subject, demonstrating that shoulder joint angles could be estimated with an average error of 15.8 % of the range of motion for two degrees of freedom. The placement optimization reduced the total number of strain patches required for kinematics estimation, enhancing convenience for daily use.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"333-337"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612625","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Lower Limb Muscle Activities and Contractility During Stepping Response to Unexpected Waist-Pull Perturbations.","authors":"Oluwasegun Akinniyi, Maxwell Gainey, Dario Martelli, Qiang Zhang","doi":"10.1109/ICORR66766.2025.11063075","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063075","url":null,"abstract":"<p><p>Reactive balance responses, which involve corrective and protective strategies, are highly dependent on rapid muscle activation to restore postural stability. Although electromyography (EMG) is commonly used to measure muscle activity, it has limitations such as signal interference, particularly during fast responses to external disturbances. Ultrasound imaging (US), in contrast, provides visualization of both superficial and deep muscles. Combining EMG and US imaging offers complementary insight into muscle behavior during reactive balance tasks. In this study, we investigated muscle activation and fascicle length changes in the medial gastrocnemius (MGS), lateral gastrocnemius (LGS), and soleus (SOL) muscles of the dominant (stepping) leg during stepping responses to unexpected low-amplitude ($57.6 pm 5.8 ~mathrm{N}$) and high-amplitude ($123.4 pm 11.1 ~mathrm{N}$) waist-pull perturbations in the anterior and posterior directions. Five young male adults (age: $25.2 pm 5.5$ years) participated in the study. Results showed that perturbation amplitude significantly affected the EMG activation of both the MGS and SOL muscles in both directions, consistent with previous studies. Similarly, perturbation amplitude impacted fascicle length shortening in the LGS and SOL muscles. Significant differences in MGS and SOL activation were observed between high-amplitude and lowamplitude perturbations in both directions. Fascicle shortening in the LGS also differed significantly between perturbation amplitudes, whereas SOL fascicle shortening did not. By combining EMG and US imaging within the same participants, this study provides new insights into the neuromuscular mechanisms underlying balance control. These findings may inform the development of improved control strategies for neurorehabilitation devices and fall-prevention systems.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1293-1298"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612629","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Towards the Development of Dynamic Hand Orthosis Without Conventional Joints.","authors":"Leon Schaeffer, Felix Rambach, Theresa Schmauber, David Herrmann, Lukas Lehmann, Valter Boehm","doi":"10.1109/ICORR66766.2025.11063085","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063085","url":null,"abstract":"<p><p>The human hand is an exceptionally complex anatomical structure with 31 degrees of freedom. In the development of dynamic wrist-hand orthoses, the wrist's multiaxial mobility is of particular interest. To accurately replicate these natural movements, a promising approach is the use of compliant tensegrity structures. Tensegrity structures allow pivot points and axes of rotation to align with anatomical positions, enabling unrestricted mobility in all directions without conventional joints. Additionally, they permit customized movement restrictions based on therapeutic needs. The orthosis's minimalist, lightweight design ensures both effective joint stabilization and free access to key injured regions. Customizing each orthosis to the patient's unique anatomy and functional needs is crucial to prevent unnecessary strain from improper positioning. The positioning of the orthosis is directly linked to the forces applied to the wrist while using. A precise understanding of the behavior of the orthosis and its influence on the wrist forces present is therefore essential. This work explores key aspects of tensegrity-based orthosis development, emphasizing accurate 3D scanning of hand anatomy, initial experimental measurements, and simulated calculations. The proposed methodology provides a solid foundation for the design of initial prototypes of tensegrity-based hand orthoses.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"501-506"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612638","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Unsupervised Robot-Assisted Therapy at Home After Stroke: a Pilot Feasibility Study.","authors":"Giada Devittori, Daria Dinacci, Claudio Petrillo, Paolo Rossi, Roger Gassert, Olivier Lambercy","doi":"10.1109/ICORR66766.2025.11062934","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11062934","url":null,"abstract":"<p><p>Unsupervised robot-assisted therapy could allow increasing upper limb therapy dose for stroke survivors with minimal additional burden on the healthcare system. Thanks to the ability to actively assist movement and dynamically adapt the assistance level, actuated devices can support individuals with a wide range of deficits. However, these devices are often complex to use, and their application in a fully unsupervised setting has rarely been explored. Here, we present a pilot study investigating the feasibility of unsupervised therapy with ReHandyBot, an actuated device for upper limb rehabilitation. The increase in therapy dose achieved during unsupervised training, device usability and user experience were evaluated. Stroke inpatients of a rehabilitation clinic learned how to use the device for two weeks with progressively decreasing levels of supervision. After discharge, they could take it home for two weeks of unsupervised therapy. Four of the five recruited participants learned how to use the device without supervision, and three completed the protocol. During the two weeks at home, on average they performed 518.3 minutes of therapy with ReHandyBot. Usability and user experience ratings show that the device was well accepted. These positive results support larger studies investigating unsupervised home therapy with ReHandyBot and suggest that active devices can be used by patients with no to mild cognitive impairments at home without the supervision of external persons.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"166-171"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612643","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}